Dbg_Fun_ComputeRoot_tau1.GetVarName (METH) ¶ METHOD GetVarName : STRING(15) InOut: Scope Name Type Return GetVarName STRING(15) Input idxVar UDINT

Dbg_Fun_ComputeRoot_tau1.NumVars (PROP) ¶ PROPERTY NumVars : UDINT

Dbg_Fun_ComputeRoot_tau1.Eval (METH) ¶ METHOD Eval InOut: Scope Name Type Inout vars SM0.Dbg_Vars

Dbg_Fun_ComputeRoot_tau1.GetName (METH) ¶ METHOD GetName : STRING(10) InOut: Scope Name Type Return GetName STRING(10)

Globals (GVL) ¶ Attributes: qualified_only InOut: Name Type Initial Comment maxExpTau1 UDINT Cnst.MAX_EXP_TAU1_DEFAULT If the computation of the stop trajectory fails (Trj_CP_Single.Next) with tau1 = dTs, then it is retried with tau1 = dTs/2, tau1 = dTs/2^2 .. tau1 = dTs/2^maxExpTau1. maxExpMinJerk UDINT 2 The first samples of the minimum jerk phase (after tau1) of the stop trajectory have duration dTs / 2^maxExpMinJerk, dTs / 2^(maxExpMinJerk-1), … minExpMinJerk UDINT 1 The sample duration of the minimum jerk phase is restricted to at most dTs / 2^LIMIT(0, minExpMinJerk, maxExpMinJerk). velTooHighAccFactor LREAL 1.5 This factor determines when Trj_SearchInterval aborts based on the current interval dTau_low, dTau_high and the current velocity. limitsMaxIntervals LREAL 0.5 The dynamic limits are reduced if it takes less than this given number of planning intervals to reach maximum velocity with the maximum acceleration, and the same for acceleration and jerk. See DynLimits_LimitRatio . evalForwardCycles LREAL 1.5 The number of cycles we look into the future along the path to determine the maximum and minimum axis derivatives. Greater than 1 so that no regions with high derivatives are overlooked. evalForwardCycles_Vel LREAL 1.5 The number of cycles we look into the future for inequalities that limit path- or axis velocities. A value greater than 1 prevents oscillations between minimum and maximum possible jerk. evalForwardCycles_Acc LREAL 1.1 The number of cycles we look into the future for inequalities that limit path- or axis accelerations. A value greater than 1 makes for smoother transitions to phases of maximum/minimum acceleration. paramTransform_LambdaLength LREAL 0 Determines how the length of a non-linear parameter transformation is computed. Must be in the range [0,1]. A value of 0 means that the shortest length is used, a value of 1 means that the longest length is used. Values in between interpolate between these possible lengths. axisBlending_UseSin2 BOOL TRUE Use smooth sin^2 parameter transformations for composite axis blending. axisBlending_LambdaLength LREAL 0.5 Determines how the fade-out and fade-in transformations of ElemFunAxisBlending are computed (member s0 and s1). Must be in the range [0,1]. A value of 0 means that the shortest length is used, a value of 1 means that the longest length is used. Values in between interpolate between these possible lengths. Only used if axisBlending_UseSin2 is FALSE. cartBlending_UseSin2 BOOL TRUE Use smooth sin^2 parameter transformations for composite cartesian blending. cartBlending_LambdaLength LREAL 0.5 Determines how the fade-out and fade-in transformations of ElemFunCartBlending are computed (member s0 and s1). Must be in the range [0,1]. A value of 0 means that the shortest length is used, a value of 1 means that the longest length is used. Values in between interpolate between these possible lengths. Only used if cartBlending_UseSin2 is FALSE. maxCyclesNoProgress UDINT (31 / (Globals.maxExpTau1 + 1)) The maxmimum allowed number of consecutive planning cycles in which the planner makes no progress. maxIterEvalJerk UDINT 1 Experimental feature: call Trj_JerkBounds.Eval more than once to improve the jerk bounds. delayStartPlanningFactor LREAL 2.0 Factor for modifying the initial delay between planner and bustask. intersectIpoParamLimits BOOL Experimental feature: If true, DetermineDynamicsRange computes the intersection of the ipo param limits over the interval [s0, s1].

Path ¶ CmdPos PathElem_CmdPos (Struct) PathElem_CmdPosTag (Enum) PathElem_CmdPosUnion (Union) EIntersectMode (Enum) ElemDynState (Struct) ElemFun AbortingElemFuns (Folder) AbortingElemFuns AbortingElemFuns_AddFunsAE (Function) AbortingElemFuns_AddFunsE (Function) AbortingElemFuns_AddFunsEB (Function) AbortingElemFuns_AddFunsNxt (Function) AbortingElemFuns_ClearCache (Function) AbortingElemFuns_FunAE (Function) AbortingElemFuns_FunE (Function) AbortingElemFuns_FunEB (Function) AbortingElemFuns_FunNxt (Function) Accessors ElemFun_AxisInfos (Function) ElemFun_CSDest (Function) ElemFun_CSStart (Function) ElemFun_Child0 (Function) ElemFun_Child1 (Function) ElemFun_GetChildPointers (Function) ElemFun_GetECS (Function) ElemFun_GetECSDelta (Function) ElemFun_GetECSDelta_Ori (Function) ElemFun_GetPausePosition (Function) ElemFun_SetCaching (Function) ElemFun_SetChild0 (Function) ElemFun_SetChild1 (Function) ElemFun_SetChildPointers (Function) ElemFun_SetPausePosition (Function) ElemFun_SetTrace0 (Function) ElemFun_SetTrace1 (Function) ElemFun_Trace0 (Function) ElemFun_Trace1 (Function) Composite ElemFunAxisBlending (Struct) ElemFunAxisBlending_Create (Function) ElemFunAxisBlending_EvalAxes (Function) ElemFunAxisBlending_EvalAxisDerivs (Function) ElemFunAxisBlending_GetPathLimits (Function) ElemFunBlending_CreateParamTrans (Function) ElemFunCartBlending (Struct) ElemFunCartBlending_ComputeDerivInfo (Function) ElemFunCartBlending_Create (Function) ElemFunCartBlending_Eval (Function) ElemFunCartBlending_EvalDerivs (Function) ElemFunCartBlending_EvalFactor (FunctionBlock) Get (Method) ElemFunCartBlending_Serialize (Function) ElemFunOriAxisBlending (Struct) ElemFunOriAxisBlending_Create (Function) ElemFunOriAxisBlending_Eval (Function) ElemFunOriAxisBlending_EvalAxes (Function) ElemFunOriAxisBlending_EvalFactor (FunctionBlock) Get (Method) ElemFunOriAxisBlending_Serialize (Function) ElemFunOriBlending (Struct) ElemFunOriBlending_Create (Function) ElemFunOriBlending_Eval (Function) ElemFunOriBlending_EvalDerivs (Function) ElemFunOriBlending_EvalFactor (FunctionBlock) Get (Method) ElemFunOriBlending_Serialize (Function) CoordinateSystem Conversion ElemFunCS_DynV3State_Transform (Function) ElemFunCS_Frame_Transform (Function) ElemFunCS_Frame_TransformECSToMCS (Function) ElemFunCS_Frame_TransformMCSToECS (Function) ElemFunCS_OriDynState_Transform (Function) ElemFunCS_Quat_Transform (Function) ElemFunCS_Quat_TransformMCSToECS (Function) ElemFunCS_Vector3D_Transform (Function) ElemFunCS_Vector3D_TransformECSToMCS (Function) CoordSysType (Enum) ElemFunCS_DecrementRefCount (Function) ElemFunCS_Delta (Function) ElemFunCS_Delta_Ori (Function) ElemFunCS_GetPose (Function) ElemFunCS_GetType (Function) ElemFunCS_IncrementRefCount (Function) ElemFunCS_Init (Function) ElemFunCS_IsDynEq (Function) ElemFunCS_IsEq (Function) ElemFunCS_IsInBusTask (Function) ElemFunCS_IsInPlanning (Function) ElemFunCS_IsStatic (Function) ElemFunCS_SetDyn (Function) ElemFunCS_SetStatic (Function) ElemFun_CS (Struct) ICoordinateSystemPlanning (Interface) Update (Method) DerivInfo_InsertSorted (Function) DerivInfo_Set (Function) ElemFun (Struct) ElemFunCache ElemFunCache (Struct) ElemFunCacheElemLineAS (Struct) ElemFunCacheElemLinear (Struct) ElemFunCacheElemOriAxis (Struct) ElemFunCacheElemOriLinear (Struct) ElemFunCacheElemUnion (Union) ElemFunCache_CacheElem (Function) ElemFunCache_CacheLineAS (Function) ElemFunCache_CacheLinear (Function) ElemFunCache_CacheOriAxis (Function) ElemFunCache_CacheOriLinear (Function) ElemFunCache_CacheQuat (Function) ElemFunCache_CacheVec (Function) ElemFunCache_CacheVector (Function) ElemFunCache_ClearCache (Function) ElemFunCache_IsCached (Function) ElemFunCache_SetCaching (Function) ElemFunPose ChangeToolOffset (Function) ElemFunPose (Struct) ElemFunPoseType (Enum) ElemFunPose_CS (Function) ElemFunPose_ChangeToolOffset (Function) ElemFunPose_CheckConsistency (Function) ElemFunPose_ComputeCartDist (Function) ElemFunPose_Copy (Function) ElemFunPose_DeepCopy (FunctionBlock) Copy (Method) ElemFunPose_ElemFun (Function) ElemFunPose_Eq (Function) ElemFunPose_Eval (Function) ElemFunPose_EvalAxes (Function) ElemFunPose_EvalOriDist (Function) ElemFunPose_EvalOriDistQ (Function) ElemFunPose_FullData (Struct) ElemFunPose_GetAxisPos (Function) ElemFunPose_GetCSType (Function) ElemFunPose_GetCartPos (Function) ElemFunPose_GetECS (Function) ElemFunPose_InitCommon (Function) ElemFunPose_InitConstant (Function) ElemFunPose_InitStatic (Function) ElemFunPose_InitVariable (Function) ElemFunPose_IsConstant (Function) ElemFunPose_IsStatic (Function) ElemFunPose_IsVariable (Function) ElemFunPose_SwitchECSToBusTask (Function) ElemFunPose_SwitchECSToBusTaskTrans (Function) ElemFunPose_SwitchECSToPlanning (Function) ElemFunPose_SwitchECSToPlanningTrans (Function) ElemFunPose_ToStatic (Function) ElemFunPose_ToolOffset (Function) ElemFunPose_UpdateCSPlanningTrans (Function) ElemFunPose_VariableToConstant (Function) PathElem_PoseEval (FunctionBlock) EvalAt (Method) ElemFunQueue (FunctionBlock) AddChecksum (Method) Append (Method) Capacity (Method) Full (Method) GetFromEnd (Method) GetFromStart (Method) GetIdxFromPtr (Method) Init (Method) IsEmpty (Method) NumElems (Method) RemoveAll (Method) RemoveFirst (Method) RemoveFirstN (Method) RemoveLast (Method) RemoveLastN (Method) Reset (Method) SetPointer (Method) SpaceLeft (Method) SpaceTracesLeft (Method) SplitAt (Method) ElemFunQueue_ReadWritePos (Struct) ElemFunTrace AbortingElemFunTraces (Alias) AbortingElemFunTraces_TracesE (Function) AbortingElemFunTraces_TracesNxt (Function) ElemFunAxesTrace ElemFunAxesTrace (Struct) ElemFunAxesTrace_CheckConsistency (Function) ElemFunAxesTrace_Eval (Function) ElemFunAxesTrace_SetCaching (Function) ElemFunAxesTrace_SetElemFun (Function) ElemFunAxesTrace_StartCycle (Function) ElemFunAxesTrace_SwitchECSToBusTask (Function) ElemFunAxesTrace_SwitchECSToPlanning (Function) ElemFunAxesTrace_Update (Function) ElemFunOriTrace ElemFunOriTrace (Struct) ElemFunOriTrace_CheckConsistency (Function) ElemFunOriTrace_EvalAngVel (Function) ElemFunOriTrace_EvalAngVelQ (Function) ElemFunOriTrace_SetCaching (Function) ElemFunOriTrace_SetElemFuns (Function) ElemFunOriTrace_StartCycle (Function) ElemFunOriTrace_SwitchECSToBusTask (Function) ElemFunOriTrace_SwitchECSToPlanning (Function) ElemFunOriTrace_Update (Function) ElemFunTrace (Struct) ElemFunTrace0_CheckConsistency (Function) ElemFunTrace0_SetElemFuns (Function) ElemFunTrace1_CheckConsistency (Function) ElemFunTrace1_SetElemFuns (Function) ElemFunTraceQueue (FunctionBlock) AddChecksum (Method) Append (Method) AppendP (Method) GetFromEnd (Method) GetFromStart (Method) Init (Method) MoveElem (Method) NumElems (Method) RemoveAll (Method) RemoveFirst (Method) RemoveLast (Method) Reset (Method) SetPointer (Method) SpaceLeft (Method) ElemFunTraceType (Enum) ElemFunTraceUnion (Union) ElemFunTrace_InitAxes (Function) ElemFunTrace_InitOri (Function) ElemFunTrace_SetCaching (Function) ElemFunTrace_StartCycle (Function) ElemFunTrace_SwitchECSToBusTask (Function) ElemFunTrace_SwitchECSToPlanning (Function) ElemFunTrace_Update (Function) ElemFunTraces (Alias) ElemFun_CalcCartDist (Function) ElemFun_CalcDestCartPos (Function) ElemFun_CalcDestFrame (Function) ElemFun_CalcStartCartPos (Function) ElemFun_CalcStartFrame (Function) ElemFun_CheckConsistency (Function) ElemFun_CheckEndPos (Function) ElemFun_ClearCache (Function) ElemFun_DecrementRefCount (Function) ElemFun_Depth (Function) ElemFun_DerivInfo (Struct) ElemFun_DynamicsInfo (Struct) ElemFun_EstimateStepSize (Function) ElemFun_EvalAxes (Function) ElemFun_EvalAxes_Ori (Function) ElemFun_EvalAxisDerivs (Function) ElemFun_EvalFactor (Function) ElemFun_GetAxesEndPos (Function) ElemFun_GetCacheGridSize (Function) ElemFun_GetEvaluationStepSize (Function) ElemFun_GetIpoParamForRelativePosition (Function) ElemFun_IncrementRefCount (Function) ElemFun_Init (Function) ElemFun_MovementInfo (Struct) ElemFun_NumElemsTrans (FunctionBlock) Count (Method) ElemFun_NumTraces (Function) ElemFun_RemovePrefix (Function) ElemFun_RemoveSuffix (Function) ElemFun_SanityCheck (FunctionBlock) CheckSanity (Method) ElemFun_ScaleIpoParamLinear (Function) ElemFun_StepSizes (FunctionBlock) Init (Method) Next (Method) ElemFun_SwitchECSToBusTask (Function) ElemFun_SwitchECSToBusTask_AllChildPointers (Function) ElemFun_SwitchECSToPlanning (Function) ElemFun_SwitchECSToPlanning_AllChildPointers (Function) ElemFun_SwitchECS_AllChildPointers (FunctionBlock) SwitchECS (Method) ElemFun_UpdateAllChildPointers (Function) ElemFun_UpdateCSPlanning (Function) ElemFun_UpdateCSPlanningTrans (FunctionBlock) Update (Method) ElemPrimBase (Struct) Intersection ElemFun_IntersectWithPlane (Function) ElemFun_IntersectWithSphere (Function) MovementInfo ElemFun_MovementInfo_PosToMvtRelPos (Function) ElemFun_MovementInfo_RemovePrefix (Function) ElemFun_MovementInfo_RemoveSuffix (Function) Predicates ElemFun_CSStartDestDynEq (Function) ElemFun_ContainsVariablePosition (Function) ElemFun_ContainsVariablePositionTrans (FunctionBlock) Check (Method) ElemFun_ECSIsDynEqTrans (FunctionBlock) Check (Method) ElemFun_EvalsToConstPose (Function) ElemFun_EvalsToStaticPose (Function) ElemFun_HasTooHighDerivatives (Function) ElemFun_IsAtOrigEnd (Function) ElemFun_IsAtOrigStart (Function) ElemFun_IsAxisSpaceFun (Function) ElemFun_IsBlending (Function) ElemFun_IsGeoPrimType (Function) ElemFun_IsInDynCS (Function) ElemFun_IsInStaticCS (Function) ElemFun_IsOriAxisSpaceFun (Function) ElemFun_IsOriPrimType (Function) ElemFun_IsValidPausePosition (Function) ElemFun_NestingDepthLessEq (Function) ElemFun_NoCartMovement (Function) ElemFun_NoOriMovement (Function) ElemFun_OriIsConstant (Function) ElemFuns_CSDynEqTrans (FunctionBlock) Check (Method) G2CheckResult (Enum) Geo Arc GeoPrimArc_CartDist (Function) GeoPrimArc_CreateFromArc (Function) GeoPrimArc_CreateI_Border (Function) GeoPrimArc_CreateI_Center (Function) GeoPrimArc_CreateI_Ext (Function) GeoPrimArc_CreateI_Ext2 (Function) GeoPrimArc_CreateI_Normal (Function) GeoPrimArc_CreateI_NormalR (Function) GeoPrimArc_Create_Normal (Function) GeoPrimArc_Create_XY (Function) GeoPrimArc_Eval (Function) GeoPrimArc_EvalDerivs (Function) GeoPrimArc_IntersectWithPlane (Function) GeoPrimArc_Serialize (Function) ElemFunAxisBlending_Serialize (Function) GeoPrimArc (Struct) GeoPrimLine (Struct) GeoPrimLineAS (Struct) GeoPrimLinear (Struct) GeoPrimType (Enum) GeoPrimType_Serialize (Function) GeoPrimUnion (Union) GeoPrimWait (Struct) GeoPrim_CreateLinear (Function) GeoPrim_Eval (Function) GeoPrim_EvalDerivs (Function) Line GeoPrimLine_Create (Function) GeoPrimLine_Eval (Function) GeoPrimLine_EvalDerivs (Function) GeoPrimLine_Serialize (Function) LineAS GeoPrimLineAS_Create (Function) GeoPrimLineAS_CreateExt (Function) GeoPrimLineAS_CreateI (Function) GeoPrimLineAS_CreateI_Ext (Function) GeoPrimLineAS_Eval (Function) GeoPrimLineAS_EvalAxes (Function) GeoPrimLineAS_EvalAxesOrigStartEnd (Function) GeoPrimLineAS_EvalAxisDerivs (Function) GeoPrimLineAS_GetOrigEndPos (Function) GeoPrimLineAS_GetOrigStartPos (Function) GeoPrimLineAS_Serialize (Function) Linear GeoPrimLinear_Create (Function) GeoPrimLinear_Eval (Function) GeoPrimLinear_EvalDerivs (Function) GeoPrimLinear_GetEndPos (Function) GeoPrimLinear_GetStartPos (Function) GeoPrimLinear_Serialize (Function) Projection ElemFun_EvalPosDerivs (Function) GeoPrim_PointDistSq_Derivs (Function) GeoPrim_ProjectPoint (Function) GeoPrim_ProjectPoint_PreImg (Function) Wait GeoPrimWait_Create (Function) GeoPrimWait_Eval (Function) GeoPrimWait_Serialize (Function) Helpers AxisInfo_Serialize (Function) AxisInfos_Serialize (Function) CP_HaltStop CP_HaltStop (FunctionBlock) Active (Property) Done (Property) Idle (Property) Reset (Method) SetDone (Method) Start (Method) CP_HaltStop_ProfileData (Struct) CP_HaltStop_State (Enum) CP_HaltStop_State_IsActive (Function) ICP_HaltStop (Interface) Active (Property) Done (Property) Idle (Property) Reset (Method) Start (Method) CacheElem_Serialize (Function) CacheElems_Serialize (Function) CacheSlot_Serialize (Function) CacheSlots_Serialize (Function) CartesianToAxes_PosLimits (Function) CheckPosLimits (Function) CheckPosLimitsAxisSpaceFun (Function) ComputeBisector (Function) ComputeTrajectoryLimits (Function) Coupled_SplitAxisInfos (Function) CreateCS_4Points (Function) DynFactorsA_Serialize (Function) DynLimitsA_LimitRatio (Function) DynLimitsA_Serialize (Function) DynLimits_LimitRatio (Function) DynV3State_ApplyParamState (Function) DynVState_ApplyParamState (Function) DynVState_UnapplyParamState (Function) ElemFunQueue_Serialize (Function) ElemFun_IsArcLengthParam (Function) ElemFun_Serialize (FunctionBlock) Serialize (Method) ElemFun_SetPositionAxes (Function) Frame_SanityCheck (Function) IsKinSupportingOriAxisInterpolation (Function) Is_Lines_2D (Function) Is_PlaneWithLineAS (Function) Is_SphereWithGeneric (Function) Is_SphereWithPoly (Function) Line (Struct) MvtIdRange MvtIdRange_Contains (Function) MvtIdRange_ContainsRange (Function) MvtIdRange_Create (Function) MvtIdRange_CreateSingle (Function) MvtIdRange_Extend (Function) MvtIdRange_Union (Function) PathElem_AddData_Serialize (Function) PathElem_CalculateRelativePositionRight (Function) PathElem_EvalFactor (Function) PathElem_IsArcLengthParam (Function) PathElem_IsAxisSpaceElem (Function) PathElem_IsOriAxisSpaceElem (Function) PathElem_ProjectPos (Function) PathElem_Serialize (Function) PathQueue_Serialize (Function) Path_DynLimits_ApplySx (Function) Path_DynLimits_CompensateSx (Function) ProjectOnBisector (Function) RotaryAxesApplyPeriod (Function) RotaryAxesApplyPeriodV (Function) SMCVec_From_Vec (Function) Sample_Serialize (Function) TCPToAxes (Function) TG_DynState_FromDynVState_i (Function) ToolOffset ArePosesConstSameDynCSSameTool (Function) AxesToCartesian_ToolOffset (Function) GetFlange (Function) IsToolCompatibleWithKin (Function) IsToolCompatibleWithOriSpace (Function) Vec_3 (Function) Vec_From_AxisPosRef (Function) Vec_From_SMCVec (Function) Vec_To_AxisPosRef (Function) MonoPoly MonoPoly (Struct) MonoPoly_Create (Function) MonoPoly_Create7 (Function) MonoPoly_CreateL (Function) MonoPoly_CreateL7 (Function) MonoPoly_CreateLenMulti (Function) MonoPoly_CreateLenMulti7 (Function) MonoPoly_Eval (Function) MonoPoly_Invert (Function) MonoPoly_LenRange (Function) MonoPoly_LenRange7 (Function) MonoPoly_MaxSlope (Function) MvtIdRange (Struct) Ori OriDynState (Struct) OriDynState_ApplyParamState (Function) OriDynState_Interpolate (Function) OriDynState_UnapplyParamState (Function) OriPrimAxis (Struct) OriPrimAxis_AxisPos (Function) OriPrimAxis_Create (Function) OriPrimAxis_Eval (Function) OriPrimAxis_EvalAxes (Function) OriPrimAxis_EvalAxesOrigStartEnd (Function) OriPrimAxis_GetOffsetConfig (Function) OriPrimAxis_GetOrigEndPos (Function) OriPrimAxis_GetOrigStartPos (Function) OriPrimAxis_Serialize (Function) OriPrimGreatCircle (Struct) OriPrimGreatCircle_Create (Function) OriPrimGreatCircle_CreateExt (Function) OriPrimGreatCircle_Eval (Function) OriPrimGreatCircle_EvalDerivs (Function) OriPrimGreatCircle_Serialize (Function) OriPrimImplicit_Create (Function) OriPrimLinear (Struct) OriPrimLinear_Create (Function) OriPrimLinear_Eval (Function) OriPrimLinear_EvalDerivs (Function) OriPrimLinear_GetCurDistance (Function) OriPrimLinear_Serialize (Function) OriPrimType (Enum) OriPrimType_Serialize (Function) OriPrimUnion (Union) OriPrim_CreateAxisSpace (Function) OriPrim_CreateOriSpace (Function) OriPrim_Eval (Function) OriPrim_EvalDerivs (Function) ParamTransform FunSin2 (Struct) ParamState ParamState (Struct) ParamState_CheckC2 (Function) ParamState_Compose (Function) ParamState_Eq (Function) ParamState_FromArc (Function) ParamState_FromDynState (Function) ParamState_FromDynVState_i (Function) ParamState_Lint (Function) ParamState_Max (Function) ParamState_Serialize (Function) ParamState_ToArc (Function) ParamTransform (Struct) ParamTransformUnion (Union) ParamTransform_Create (FunctionBlock) CreateSingle (Method) CreateSingle7 (Method) ParamTransform_CreateLin (Function) ParamTransform_CreateMonoPoly (Function) ParamTransform_CreateSin2 (Function) ParamTransform_CreateZero (Function) ParamTransform_FromElem (Function) ParamTransform_FunType (Enum) ParamTransform_IsLinear (Function) ParamTransform_IsZero (Function) ParamTransform_MaxSlope (Function) ParamTransform_RemovePrefix (Function) ParamTransform_RemoveSuffix (Function) ParamTransform_SanityCheck (Function) ParamTransform_ScaleLinear (Function) ParamTransform_Serialize (Function) ParamTransform_ToElem (Function) PathElem AbortingPathElem (Struct) AbortingPathElems (Alias) AbortingPathElems_AE (Function) AbortingPathElems_E (Function) AbortingPathElems_EB (Function) AbortingPathElems_Invalidate (Function) AbortingPathElems_Iter (FunctionBlock) Advance (Method) Get (Method) Init (Method) AbortingPathElems_Nxt (Function) AbortingPathElems_StopAtStart (Function) PathElem (Struct) PathElem_AxisInfos (Function) PathElem_CSDest (Function) PathElem_CSStart (Function) PathElem_CSStartDestDynEq (Function) PathElem_CalcCartDist (Function) PathElem_CalcDestCartPos (Function) PathElem_CalcDestFrame (Function) PathElem_CalcStartCartPos (Function) PathElem_CalcStartFrame (Function) PathElem_CanBeCut (Function) PathElem_CheckEndPos (Function) PathElem_ContainsVariablePosition (Function) PathElem_Copy (Function) PathElem_DynInfo (Function) PathElem_ElemFun (Function) PathElem_ElemFunChild0 (Function) PathElem_ElemFunChild1 (Function) PathElem_EndOfPathPose (Function) PathElem_EvalsToConstPose (Function) PathElem_GeoPrimType (Function) PathElem_GetECS (Function) PathElem_GetId (Function) PathElem_GetIpoParamForRelativePosition (Function) PathElem_GetSegment (Function) PathElem_GetWaitTime (Function) PathElem_HasStaticECS (Function) PathElem_IsBlending (Function) PathElem_IsConstant (Function) PathElem_IsEndOfPath (Function) PathElem_IsGeoPrimType (Function) PathElem_IsInDynCS (Function) PathElem_IsOriPrimType (Function) PathElem_Len (Function) PathElem_LenOrig (Function) PathElem_NumElemFuns (Function) PathElem_OriPrimType (Function) PathElem_OriPrimType_IsAxisSpaceElem (Function) PathElem_PosToMvtRelPos (Function) PathElem_ScaleIpoParamLinear (Function) PathElem_SetCanBeCut (Function) PathElem_SetDerivStepSize (Function) PathElem_SetElemFun (Function) PathElem_SetEndOfPath (Function) PathElem_SetId (Function) PathElem_SetLen (Function) PathElem_SetLenOrig (Function) PathElem_SetLoad (Function) PathElem_SetSegment (Function) PathElem_SetTransition (Function) PathElem_SetWaitTime (Function) PathElem_TimeDerivStepSize (Function) PathElem_ToolOffset (Function) PathElem_Trafo (Function) Trigger PathElemTriggerPosition_Init (Function) PathElemTriggerPosition_Init2 (Function) PathElemTrigger_InsertSorted (Function) PathElemTrigger_RemovePrefix (Function) PathElemTrigger_RemoveSuffix (Function) PathElemTrigger_ScaleLinear (Function) PathElem_AddTrigger (Function) PathElem_ClearTriggers (Function) PathElem_GetTriggers (Function) PathElem_NumTriggers (Function) PathElem_ProjectTriggersToBlending (Function) PathElem_TriggerPosition (Struct) PathElem_TriggerPosition_Eq (Function) PathElem_Triggers (Struct) PathElemRange_ContainsId (Function) PathElem_AddData (Struct) PathElem_AddData_CalculateEffectiveLimits (Function) PathElem_AddData_EffectiveAxisLimits (Function) PathElem_AddData_EffectivePathLimits (Function) PathElem_AddData_SanityCheck (Function) PathElem_AddData_SetMvtIds (Function) PathElem_CheckG2 (FunctionBlock) Check (Method) PathElem_ClearPausePosition (Function) PathElem_Eval (FunctionBlock) Eval (Method) EvalDerivs (Method) EvalOri (Method) EvalPos (Method) PathElem_FindByGeoPrimType (Function) PathElem_FindById (Function) PathElem_FindByPathPosition_Right (Function) PathElem_FindByS (Function) PathElem_FindByS_Internal (Function) PathElem_FindByS_LeftRight (Function) PathElem_FindByS_LeftRight_Internal (Function) PathElem_FindByS_Right (Function) PathElem_FindStartOfMovement (Function) PathElem_GetLimits (Function) PathElem_GetMovementInfo (Function) PathElem_GetMvtId_Last (Function) PathElem_GetMvtIds (Function) PathElem_GetPausePosition (Function) PathElem_GetPrevExternalID (Function) PathElem_GetSegmentStart (Function) PathElem_Id (Alias) PathElem_Id_Generator (FunctionBlock) Init (Method) Next (Method) Reset (Method) PathElem_Id_IsGreater (Function) PathElem_Id_Min (Function) PathElem_Init (Function) PathElem_PathTolerance (Function) PathElem_ProjectPausePosition (Function) PathElem_RemovePrefix (Function) PathElem_RemoveSuffix (Function) PathElem_SanityCheck (Function) PathElem_SetMvtInfoAborting (Function) PathElem_SetMvtInfoBlending (Function) PathElem_SetPausePosition (Function) PathQueue (FunctionBlock) AddChecksum (Method) Append (Method) Capacity (Method) CutAfter (Method) CutBefore (Method) DisableCaching (Method) EnableCaching (Method) Full (Method) GetDS0 (Method) GetFromEnd (Method) GetFromStart (Method) Init (Method) IsEmpty (Method) NumElems (Method) RemoveAll (Method) RemoveFirst (Method) RemoveLast (Method) SetDS0 (Method) SetPointer (Method) SpaceElemFunsLeft (Method) SpaceElemsLeft (Method) SpaceTracesLeft (Method) SplitAt (Method) StartCycle (Method) Update (Method) PathTolerance (Struct) Path_ClearPausePositions (Function) Path_Distance (Function) Path_DynLimits (Alias) Path_DynLimitsAsym (Struct) Path_DynLimitsAsym_AccLimitsFromTorque (Function) Path_DynLimitsAsym_FromDynLimits (Function) Path_DynLimitsAsym_Infinity (Function) Path_DynLimitsAsym_Intersect (Function) Path_DynLimitsAsym_Project (Function) Path_DynLimitsAsym_ProjectJerkEndOfCycle (Function) Path_DynLimitsAsym_Zero (Function) Path_EndOfSegment (Function) Path_EvalCache_ClearBefore (Function) Path_FindPausePosition (Function) Path_GetLastElem (Function) Path_GetPausePosition (Function) Path_IsPosAtElementId (Function) Path_MakeConsistent (Function) Path_NextSegment (Function) Path_PausePosition (Struct) Path_SegmentEndDist (Function) Path_SetPausePosition (Function) Path_StartOfSegment (Function) Path_UpdateCSPlanning (Function)

Constraint_GHToAB (FUN) ¶ FUNCTION Constraint_GHToAB : DINT InOut: Scope Name Type Inout Const ag ARRAY [0..(Cnst.MAX_CONSTRAINTS - 1)] OF Constraint_G_Entry ah_ ARRAY [0..(Cnst.MAX_CONSTRAINTS - 1)] OF Constraint_H_Entry Input pAB POINTER TO Constraint nNumHConstraints DINT nNumGConstraints DINT dv LREAL da LREAL dTs LREAL dTs_ LREAL Return Constraint_GHToAB DINT

Constraint_G_Entry (STRUCT) ¶ TYPE Constraint_G_Entry : STRUCT Represents the condition: dc_min <= dv3*v^3 + dva*v*a + dj*j <= dc_max. This is the format of the conditions that depend explicitly on the jerk j. InOut: Name Type dv3 LREAL dva LREAL dj LREAL dc_min LREAL dc_max LREAL

Constraint_H_Entry (STRUCT) ¶ TYPE Constraint_H_Entry : STRUCT Represents the condition: dc_min <= da*a + dv2*v^2 + dv*v <= dc_max. This is the format of the conditions that don’t depend (explicitly) on the jerk j. InOut: Name Type da LREAL dv2 LREAL dv LREAL dc_min LREAL dc_max LREAL

Constraint_SetGV_Pair (FUN) ¶ FUNCTION Constraint_SetGV_Pair : BOOL InOut: Scope Name Type Input pcg POINTER TO Constraint_G_Entry Inout Const v3 SM3M.SMC_Vec va SM3M.SMC_Vec j SM3M.SMC_Vec limits DynLimitsA Return Constraint_SetGV_Pair BOOL